GRT2026/climbSubsystemCommandOverview(inline).txt at main · grt192/GRT2026 · GitHub

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WINCH:
goToSetPosition(Angle){
	setsPIDSetpoint
}
autoPullDownClaw(){
	goToSetPosition(deployed)
	and waits to reach it with timeout
}
autoPullUpClaw(){
	goToSetPosition(home)
	and waits to reach the hardstop with timeout
	if timedOut, backs into hardstop with timeOut
}

rotateWinchWithStop(dutyCycle, bool_Stop){
	rotates motor at dutycyle until stop bool is true
}

manualPullUpClaw(bool_stop){
	rotateWinchWithStop forward with stop
}

manualPullDownClaw(bool_stop){
	rotateWinchWithStop reverse with stop
}

ARM:
goToSetPosition(Angle){
	setsPIDSetpoint
}
autoDeployArm(){
	goToSetPosition(deployed)
	and waits to reach it with timeout
}
autoRetractArm(){
	goToSetPosition(home)
	and waits to reach it with timeout
}
moveArmWithStop(dutyCycle, bool_Stop){
	rotates motor at dutycyle until stop bool is true
}
deployArm(bool_stop){
	moveArmWithStop reverse with stop
}

retractArm(bool_stop){
	rotateWinchWithStop forward with stop
}
CLIMB:
getClimbCommand(){
	returns which auto climb command to return based on climbState
}
autoClimb(){
	basically wrapper for getClimbCommand()
}
autoClimbUp(){
	autoDeployArm() then autoPullDownClaw() if arm deploy wasn't interupted
}
autoClimbDown(){
	autoPullDownClaw() then autoRetractArm() if claw wasn't interrupted
}
waitForButtonRelease(bool_step){
	waits for step to be released
}
waitForNextStep(bool_step){
	waitForButtonRelease() then waits for button press then waitForButtonRelease()
}
semiAutoClimbUp(bool_step){
	1. waitForButtonRelease() then
	2. deployArm(step) then
	3. waits for softLimit on arm or step
	4. waitForNextStep()
	5. manualPullDownClaw()
	6. wait for reverse limit on winch or step
}
semiAutoClimbDown(bool_step){
	1. waitForButtonRelease() then
	2. manualPullUpClaw(step) then
	3. waits for softLimit on winch or step
	4. waitForNextStep()
	5. retractArm()
	6. wait for reverse limit on arm or step
}